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Dynamic Modeling and Guidance of Underwater Robots with Different Geometries and Configurations

Tabatabaee Kermani, Matin | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57679 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. Underwater robots are capable of performing a wide range of underwater operations such as research, sampling, hydrography, rescue, and more. These robots are generally categorized into two main types: remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). AUVs offer significant advantages due to their lack of reliance on human operators, including extended operational range, longer operational duration, and reduced human risk. In the design process of any underwater robot, a specific dynamic model is developed based on the robot’s geometric features and the specifications of its appendages, including control surfaces, thrusters, and buoyancy tanks. This involves calculating hydrodynamic coefficients, forces, and moments exerted on the robot by the control surfaces and thrusters in various directions, the forces resulting from the center-of-gravity shift caused by buoyancy tank operation, and finally, deriving six degrees of freedom (6-DOF) motion equations for the specific robot. This process is often time-consuming and complex. This thesis aims to develop comprehensive software for the dynamic modeling of various underwater robots with conventional or unconventional body shapes, a customizable number of control surfaces and thrusters with different specifications in various positions and orientations, and adjustable buoyancy tanks. In other words, the user can input the desired geometry into the software and simulate the desired maneuver. The software results have demonstrated high accuracy compared to experimental and international research. Finally, the controllability of robots has been assessed by implementing a path-following system and enabling manual and real-time control. The advantages of this software include its adaptability to various underwater robots, reduced modeling and design costs, time savings, and enhanced system controllability
  9. Keywords:
  10. UnderWater Robot ; Dynamic Modeling ; Hydrodynamic Coefficients ; Control Surfaces ; Autonomous Underwater Vehicle ; Remotely Operated Vehicle

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